Research on the sliding mode based ADRC for hydraulic active suspension of a six-wheel off-road vehicle

This paper, a sliding mode based auto disturbances rejection control (ADRC) method is presented for hydraulic active suspension of a six-wheel off-road vehicle. First, the low order extended state observer (ESO) is used to estimate both external disturbances and internal nonlinear uncertain parameters. Next, the sliding mode surface is designed to make sure of the robustness of the system. The experimental results show that the ADRC method, together with the sliding mode control method, gives an excellent performance for position tracking in the presence of nonlinear unknown parameters.